Rename "quad" to "legged"

Author: qiayuanl

README.md

@@ -1,30 +1,38 @@
-# quad_ros
+# legged_control
 
-I haven't had time to write the documentation yet. But I tried my best to keep the whole testing process as simple as possible. And did not change the code of ocs2 itself.
+I haven't had time to write the documentation yet. But I tried my best to keep the whole testing process as simple as
+possible. And did not change the code of ocs2 itself.
 
 ## Build
 
 - ocs2 is a huge monorepo, you just need to compile ocs2_legged_robot_ros and its dependencies!
-- If you only run simulation, you do not need to compile unitree_hw of quad_ros;
+- If you only run simulation, you do not need to compile unitree_hw;
 
 ## Quick Start
 
 1. Set your robot type(a1 or aliengo) as an environment variable: ROBOT_TYPE
+
 ```
 export ROBOT_TYPE=a1
 ```
 
 2. Run the simulation:
+
 ```
 roslaunch unitree_description empty_world.launch
 ```
+
 3. Load the controller:
+
 ```
-mon launch quad_controllers load_controller.launch
+mon launch legged_controllers load_controller.launch
 ```
+
 4. You can start the controller using `rqt_controller_manager`
+
 ```
 sudo apt install ros-noetic-rqt-controller-manager
 rosrun rqt_controller_manager rqt_controller_manager
 ```
+
 5. After start the controller, you can command the robot by two terminal created by step 3.

quad_common/CMakeLists.txt renamed to legged_common/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10)
-project(quad_common)
+project(legged_common)
 
 ## Use C++14
 set(CMAKE_CXX_STANDARD 14)

quad_common/include/quad_common/hardware_interface/contact_sensor_interface.h renamed to legged_common/include/legged_common/hardware_interface/contact_sensor_interface.h

@@ -5,7 +5,7 @@
 #include <hardware_interface/internal/hardware_resource_manager.h>
 #include <hardware_interface/joint_state_interface.h>
 
-namespace quad_ros
+namespace legged
 {
 class ContactSensorHandle
 {
@@ -43,4 +43,4 @@ class ContactSensorInterface
 {
 };
 
-}  // namespace quad_ros
+}  // namespace legged

quad_common/include/quad_common/hardware_interface/hybrid_joint_interface.h renamed to legged_common/include/legged_common/hardware_interface/hybrid_joint_interface.h

@@ -5,7 +5,7 @@
 #include <hardware_interface/internal/hardware_resource_manager.h>
 #include <hardware_interface/joint_state_interface.h>
 
-namespace quad_ros
+namespace legged
 {
 class HybridJointHandle : public hardware_interface::JointStateHandle
 {
@@ -113,4 +113,4 @@ class HybridJointInterface
 {
 };
 
-}  // namespace quad_ros
+}  // namespace legged

quad_common/package.xml renamed to legged_common/package.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-    <name>quad_common</name>
+    <name>legged_common</name>
     <version>0.0.0</version>
-    <description>The quad_common package</description>
+    <description>The legged_common package</description>
 
     <maintainer email="[email protected]">qiayuan</maintainer>
 

quad_ros/CMakeLists.txt renamed to legged_control/CMakeLists.txt

@@ -1,4 +1,4 @@
 cmake_minimum_required(VERSION 3.1.3)
-project(quad_ros)
+project(legged_control)
 find_package(catkin REQUIRED)
 catkin_metapackage()

quad_ros/package.xml renamed to legged_control/package.xml

@@ -1,14 +1,14 @@
 <?xml version="1.0"?>
 <package format="2">
-    <name>quad_ros</name>
+    <name>legged_control</name>
     <version>0.0.0</version>
-    <description>Meta package that contains package of quad_ros.</description>
+    <description>Meta package that contains package of legged.</description>
     <maintainer email="[email protected]">Qiayuan Liao</maintainer>
 
     <license>BSD</license>
 
-    <url type="repository">https://github.com/qiayuanliao/quad_ros</url>
-    <url type="bugtracker">https://github.com/qiayuanliao/quad_ros/issues</url>
+    <url type="repository">https://github.com/qiayuanliao/legged_control</url>
+    <url type="bugtracker">https://github.com/qiayuanliao/legged_control/issues</url>
 
     <author email="[email protected]">Qiayuan Liao</author>
 

quad_controllers/CMakeLists.txt renamed to legged_controllers/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.10)
-project(quad_controllers)
+project(legged_controllers)
 
 ## Use C++14
 set(CMAKE_CXX_STANDARD 14)
@@ -11,8 +11,8 @@ add_definitions(-Wall)
 find_package(catkin REQUIRED
         COMPONENTS
         roscpp
-        quad_common
-        quad_wbc
+        legged_common
+        legged_wbc
         controller_interface
         ocs2_legged_robot_ros
         angles
@@ -28,8 +28,8 @@ catkin_package(
         ${PROJECT_NAME}
         CATKIN_DEPENDS
         roscpp
-        quad_common
-        quad_wbc
+        legged_common
+        legged_wbc
         controller_interface
         ocs2_legged_robot_ros
         angles